Omron YRC User Manual page 93

3. DO03 Alarm
This output turns on in the following cases.
1) When the emergency stop input contact is open in the servo on status.
2) When a driver unit detects a serious malfunction such as an overload.
3) When the host CPU has stopped due to a serious abnormality or other causes.
4) When the battery is not connected.
When the alarm is on, the alarm number is displayed on the 7-segment LED on the front of the controller simultaneously.
In the above cases, turn off the alarm as described below.
In the case of 1)
After closing the emergency stop input contact, turn on DI16 (alarm reset input) of the I/O interface.
The alarm can also be reset as the power is turned off, and then it is turned on again.
In the case of 2)
Turn on DI16 (alarm reset input) of the I/O interface to turn off the alarm. Additionally, when the alarm is reset from
the programming box, the alarm is turned off.
* Some alarms cannot be reset. In this case, shut down the control power and reset the alarm.
In the case of 3)
Since the CPU has stopped, the alarm cannot be turned off and operation cannot be reset unless the power supply is
turned on again. If the alarm remains on even after the power has been turned off and then turned back on, the controller
needs to be replaced.
In the case of 4)
When a battery abnormality is detected, the alarm cannot be turned off until the power supply is turned on again.
If the alarm remains on even after the power has been turned on again, check the battery connection or replace
the battery as necessary.
4. DO10 AUTO mode output
DO10 is always on when the controller is in the AUTO mode and the control setting is "RELEASE".
5. DO11 Return-to-origin complete
DO11 is always on when return-to-origin is complete on all axes.
6. DO12 Sequence program-in-progress
DO12 is always on when the sequence program is being executed.
7. DO13 Robot program-in-progress
DO13 is always on when the robot program is being executed or when program instruction commands are executed
individually.
8. DO14 Program reset status output
DO14 is always on when the robot program is in its reset status. DO14 turns off when robot program is executed.
9. DO15 Warning output
DO15 turns on if a warning occurs, for example, the controller detects the battery voltage drop.
NOTE
DO15 is for all warnings. Refer to "[c] Warning" in Troubleshooting (the appendix) for details.
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